Enviaments recents

  • A singularity-robust LQR controller for parallel robots 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    Parallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free ...
  • The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm 

    Borràs Sol, Júlia; Heudorfer, Raphael; Rader, Samuel; Asfour, Tamim (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without ...
  • Towards safety in physically assistive robots: eating assistance 

    Vila Abad, Maria; Canal Camprodon, Gerard; Alenyà Ribas, Guillem (2018)
    Text en actes de congrés
    Accés obert
    Safety is one of the base elements to build trust in robots. This paper studies remedies to unavoidable collisions using robotics assistive feeding as an example task. Firstly, we propose an attention mechanism so the user ...
  • The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra 

    Porta Pleite, Josep Maria; Thomas, Federico (Springer, 2018)
    Text en actes de congrés
    Accés obert
    A strip of tetrahedra is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. The problem of finding all the possible lengths for an edge in the strip ...
  • Vehicle pose estimation using G-Net: multi-class localization and depth estimation 

    García López, Javier; Agudo Martínez, Antonio; Moreno-Noguer, Francesc (IOS Press, 2018)
    Text en actes de congrés
    Accés obert
    In this paper we present a new network architecture, called G-Net, for 3D pose estimation on RGB images which is trained in a weakly supervised manner. We introduce a two step pipeline based on region-based Convolutional ...
  • Geometry-aware network for non-rigid shape prediction from a single view 

    Pumarola Peris, Albert; Agudo Martínez, Antonio; Porzi, Lorenzo; Sanfeliu Cortés, Alberto; Lepetit, Vincent; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    We propose a method for predicting the 3D shape of a deformable surface from a single view. By contrast with previous approaches, we do not need a pre-registered template of the surface, and our method is robust to the ...
  • Unsupervised person image synthesis in arbitrary poses 

    Pumarola Peris, Albert; Agudo Martínez, Antonio; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    We present a novel approach for synthesizing photo-realistic images of people in arbitrary poses using generative adversarial learning. Given an input image of a person and a desired pose represented by a 2D skeleton, our ...
  • Hallucinating dense optical flow from sparse lidar for autonomous vehicles 

    Vaquero Gómez, Víctor; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system ...
  • Grasping unknown objects in clutter by superquadric representation 

    Makhal, Abhijit; Thomas, Federico; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object ...
  • Resilient distributed energy management for systems of interconnected microgrids 

    Ananduta, Wayan Wicak; Maestre Torreblanca, José María; Ocampo-Martínez, Carlos; Ishii, Hideaki (IEEE Press, 2018)
    Text en actes de congrés
    Accés obert
    In this paper, distributed energy management of interconnected microgrids, which is stated as a dynamic economic dispatch problem, is studied. Since the distributed approach requires cooperation of all local controllers, ...
  • Yet another approach to the Gough-Stewart platform forward kinematics 

    Porta Pleite, Josep Maria; Thomas, Federico (2018)
    Text en actes de congrés
    Accés obert
    The forward kinematics of the Gough-Stewart platform, and their simplified versions in which some leg endpoints coalesce, has been typically solved using variable elimination methods. In this paper, we cast doubts on whether ...
  • 2D-to-3D facial expression transfer 

    Rotger Moll, Gemma; Lumbreras, Felipe; Moreno-Noguer, Francesc; Agudo Martínez, Antonio (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    Automatically changing the expression and physical features of a face from an input image is a topic that has been traditionally tackled in a 2D domain. In this paper, we bring this problem to 3D and propose a framework ...

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